#pragma once
#include <opencv2/opencv.hpp>
#include <vector>
#include <string>
// #include "src/slam.h"
using namespace std;

class slam_app
{
private:
    /* data */
public:
    cv::Mat savePosesToFile(string filename);
    int j = 0;
    void run(cv::Mat &inimg, cv::Mat &in_depth);

    std::vector<string> imgpaths;
    cv::Mat in_image, in_depth;
    vector<cv::Affine3f> paths;
    vector<string> paths_rgbs;
    vector<string> paths_deps;
    cv::Mat curr_pose;
    cv::Mat ALLpaths_rgbs;
    slam_app(/* args */);
    ~slam_app();

};
